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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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#ifndef PX_SPHERICAL_JOINT_H
#define PX_SPHERICAL_JOINT_H
/** \addtogroup extensions
  @{
*/

#include "extensions/PxJoint.h"
#include "extensions/PxJointLimit.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxSphericalJoint;

/**
\brief Create a spherical joint.

 \param[in] physics		The physics SDK
 \param[in] actor0		An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
 \param[in] localFrame0	The position and orientation of the joint relative to actor0
 \param[in] actor1		An actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
 \param[in] localFrame1	The position and orientation of the joint relative to actor1 

@see PxSphericalJoint
*/
PxSphericalJoint*	PxSphericalJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);


/**
\brief Flags specific to the spherical joint.

@see PxSphericalJoint
*/
struct PxSphericalJointFlag
{
	enum Enum
	{
		eLIMIT_ENABLED	= 1<<1	//!< the cone limit for the spherical joint is enabled
	};
};
typedef PxFlags<PxSphericalJointFlag::Enum, PxU16> PxSphericalJointFlags;
PX_FLAGS_OPERATORS(PxSphericalJointFlag::Enum, PxU16)

/**
\brief A joint which behaves in a similar way to a ball and socket.

 A spherical joint removes all linear degrees of freedom from two objects.

 The position of the joint on each actor is specified by the origin of the body's joint frame.
 
 A spherical joint may have a cone limit, to restrict the motion to within a certain range. In
 addition, the bodies may be projected together if the distance between them exceeds a given threshold.
 
 Projection, drive and limits are activated by setting the appropriate flags on the joint.

 @see PxRevoluteJointCreate() PxJoint
*/
class PxSphericalJoint : public PxJoint
{
public:
	
	/**
	\brief Set the limit cone.

	If enabled, the limit cone will constrain the angular movement of the joint to lie
	within an elliptical cone.

	\return the limit cone

	@see PxJointLimitCone setLimit() 
	*/
	virtual PxJointLimitCone	getLimitCone()	const	= 0;

	/**
	\brief Get the limit cone.

	\param[in] limit the limit cone

	@see PxJointLimitCone getLimit() 
	*/
	virtual void				setLimitCone(const PxJointLimitCone& limit)	= 0;

	/**
	\brief get the swing angle of the joint from the Y axis
	*/
	virtual PxReal				getSwingYAngle()	const	= 0;

	/**
	\brief get the swing angle of the joint from the Z axis
	*/
	virtual PxReal				getSwingZAngle()	const	= 0;

	/**
	\brief Set the flags specific to the Spherical Joint.

	<b>Default</b> PxSphericalJointFlags(0)

	\param[in] flags The joint flags.

	@see PxSphericalJointFlag setFlag() getFlags()
	*/
	virtual void				setSphericalJointFlags(PxSphericalJointFlags flags) = 0;

	/**
	\brief Set a single flag specific to a Spherical Joint to true or false.

	\param[in] flag The flag to set or clear.
	\param[in] value the value to which to set the flag

	@see PxSphericalJointFlag, getFlags() setFlags()
	*/
	virtual void				setSphericalJointFlag(PxSphericalJointFlag::Enum flag, bool value) = 0;

	/**
	\brief Get the flags specific to the Spherical Joint.

	\return the joint flags

	@see PxSphericalJoint::flags, PxSphericalJointFlag setFlag() setFlags()
	*/
	virtual PxSphericalJointFlags	getSphericalJointFlags()	const	= 0;

	/**
	\brief Returns string name of PxSphericalJoint, used for serialization
	*/
	virtual	const char*			getConcreteTypeName() const { return "PxSphericalJoint"; }

protected:

	//serialization

	/**
	\brief Constructor
	*/
	PX_INLINE					PxSphericalJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}

	/**
	\brief Deserialization constructor
	*/
	PX_INLINE					PxSphericalJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags)	{}

	/**
	\brief Returns whether a given type name matches with the type of this instance
	*/
	virtual	bool				isKindOf(const char* name) const { PX_IS_KIND_OF(name, "PxSphericalJoint", PxJoint); }

	//~serialization
};

#if !PX_DOXYGEN
} // namespace physx
#endif

/** @} */
#endif
